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Improving RANSAC for fast landmark recognition

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4 Author(s)
Pablo Marquez-Neila ; Dep. Inteligencia Artificial Facultad Informática, Universidad Politécnica de Madrid, Spain ; Jacobo Garcia Miro ; Jose M. Buenaposada ; Luis Baumela

We introduce a procedure for recognizing and locating planar landmarks for mobile robot navigation, based in the detection and recognition of a set of interest points. We use RANSAC for fitting a homography and locating the landmark. Our main contribution is the introduction of a geometrical constraint that reduces the number of RANSAC iterations by discarding minimal subsets. In the experiments conducted we conclude that this constraint increases RANSAC performance by reducing in about 35% and 75% the number of iterations for affine and projective cameras, respectively.

Published in:

Computer Vision and Pattern Recognition Workshops, 2008. CVPRW '08. IEEE Computer Society Conference on

Date of Conference:

23-28 June 2008